论文标题
具有任意传感器位置的车辆路径座的非线性横向控制器设计
A Nonlinear Lateral Controller Design for Vehicle Path-following with an Arbitrary Sensor Location
论文作者
论文摘要
本文研究了反馈传感器安装在纵向对称轴的任意位置时，研究车辆路径跟踪中的横向控制问题。我们指出，一些现有文献滥用了运动轴模型，描述了后轴中心的其他位置运动，这可能导致实际实现的性能差。然后，设计了一种具有低复杂性和高功能性的非线性控制器，它考虑了Senor安装位置，舒适的舒适性和瞬态响应，并具有很大的初始错误。设计洞察力和直觉也详细提供。此外，还研究了闭环系统的稳定性和跟踪性能的分析，并为选择控制参数提供了条件和指南。进行全面的模拟以证明所提出的非线性控制器对任意传感器位置的功效。同时，我们还表明，忽略传感器位置的设计控制器可能会导致在非交流路径中的意外车辆摇摆运动。
This paper investigates the lateral control problem in vehicular path-following when the feedback sensor(s) are mounted at an arbitrary location in the longitudinal symmetric axis. We point out that some existing literature has abused the kinematic bicycle model describing the motion of rear axle center for other locations, which may lead to poor performance in practical implementations. A new nonlinear controller with low-complexity and high-maneuverability is then designed that takes into account senor mounting location, driving comfort and transient response with large initial errors. Design insights and intuitions are also provided in detail. Furthermore, analysis on stability and tracking performance for the closed-loop system are studied, and conditions and guidelines are provided on the selection of control parameters. Comprehensive simulations are performed to demonstrate the efficacy of the proposed nonlinear controller for arbitrary sensor locations. Meanwhile, we also show that designing controllers ignoring the sensor location may lead to unexpected vehicular sway motion in non-straight paths.
